WebSVN - NaviCtrl - Diff - Rev 342 and 360


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
 
 
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
 
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
 
// + features that can be used to identify the program may not be altered or defaced by the customer.
 
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdio.h>
#include <string.h>
#include "91x_lib.h"
#include "mk3mag.h"
#include "i2c.h"
#include "timer1.h"
#include "led.h"
#include "main.h"
#include "uart1.h"
#include "compass.h"
 
#define MK3MAG_SLAVE_ADDRESS            0x50  // i2C slave address
 
u8 MK3MAG_Present = 0;
 
typedef struct
{
  s16 Nick;
  s16 Roll;
} __attribute__((packed)) MK3MAG_WriteAttitude_t;
 
typedef struct
{
  u8 Major;
  u8 Minor;
  u8 Patch;
  u8 Compatible;
} __attribute__((packed)) MK3MAG_Version_t;
 
typedef struct
{
  u8 CalByte;
  u8 Dummy1;
  u8 Dummy2;
} __attribute__((packed)) MK3MAG_Cal_t;
 
// Transfer buffers
volatile MK3MAG_WriteAttitude_t         MK3MAG_WriteAttitude;
volatile MK3MAG_Version_t                       MK3MAG_Version;
volatile MK3MAG_Cal_t                           MK3MAG_WriteCal;
volatile MK3MAG_Cal_t                           MK3MAG_ReadCal;
 
// -------------------------------------------------------------------------------
// the calculation of the MK3MAG packet checksum
 
// calculate the crc of  bytecount bytes in buffer
u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount)
{
        u8 i, crc = 0;
        for(i=0; i < bytecount; i++)
        {
                crc += pBuffer[i];
        }
        crc = ~crc;
        return crc;
}
 
// assuming the last byte in buffer is the crc byte
u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen)
{
        u8 crc = 0, retval = 0;
        if(BuffLen == 0) return(retval);
        crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1);
        if(crc == pBuffer[BuffLen-1])
        {
                retval = 1;
                DebugOut.Analog[15]++; // count mk3mag ok
        }
        else
        {
                retval = 0;
                DebugOut.Analog[14]++; // count mk3mag crc error
        }
        return(retval);
}
 
// -------------------------------------------------------------------------------
// the I2C rx data handler functions
 
// rx data handler for version info request
void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize)
{       // if crc is ok and number of byte are matching
        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )
        {
                memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));
        }                
}
 
// rx data handler for calibration request
void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize)
{       // if crc is ok and number of byte are matching
        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )
        {
                memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));
        }                        
}
 
// rx data handler for magnetic vector request
void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)
{       // if crc is ok and number of byte are matching
        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) )
        {
                s16vec_t *pMagVector = (s16vec_t*)pRxBuffer;
                MagVector.X = pMagVector->Y;
                MagVector.Y = pMagVector->X;
                MagVector.Z = -pMagVector->Z;    
                Compass_CalcHeading();
        }                        
}
 
//----------------------------------------------------------------
#define MK3MAG_CMD_VERSION              0x01
#define MK3MAG_CMD_READ_MAGVECT         0x02
#define MK3MAG_CMD_WRITE_CAL            0x04
 
void MK3MAG_SendCommand(u8 command)
{
        // try to catch the I2C buffer
        if(I2C_LockBuffer(0))
        {
                u16 TxBytes = 0;
                u16 RxBytes = 0;
                I2C_pRxHandler_t pRxHandlerFunc = NULL;
               
                // update current command id
                I2C_Buffer[TxBytes++] = command;
 
                // set pointers to data area with respect to the command id
                switch (command)
                {
                        case MK3MAG_CMD_VERSION:
                                RxBytes = sizeof(MK3MAG_Version)+1;
                                pRxHandlerFunc = &MK3MAG_UpdateVersion;
                                break;
                        case MK3MAG_CMD_WRITE_CAL:
                                RxBytes = sizeof(MK3MAG_ReadCal)+1;
                                pRxHandlerFunc = &MK3MAG_UpdateCalibration;
                                memcpy((u8*)I2C_Buffer+1, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));
                                TxBytes += sizeof(MK3MAG_WriteCal);
                                break;
                        case MK3MAG_CMD_READ_MAGVECT:
                                RxBytes = sizeof(MagVector)+1;
                                pRxHandlerFunc = &MK3MAG_UpdateMagVector;
                                break;
                        default: // unknown command id
                                RxBytes = 0;
                                pRxHandlerFunc = NULL;
                                break;
                }
                // update packet checksum
                I2C_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C_Buffer, TxBytes);
                TxBytes++;
                // initiate I2C transmission
                I2C_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes);
        } // EOF I2C_State == I2C_IDLE  
}
 
 
//----------------------------------------------------------------
u8 MK3MAG_Init(void)
{
        u8 msg[64];
        u8 repeat;
        u32 timeout;
       
        MK3MAG_Present = 0;
 
        MK3MAG_Version.Major = 0xFF;
        MK3MAG_Version.Minor = 0xFF;
        MK3MAG_Version.Patch = 0xFF;
        MK3MAG_Version.Compatible = 0xFF;
 
        Compass_Heading = -1;
 
        // polling of version info
        repeat = 0;
        do
        {
                MK3MAG_SendCommand(MK3MAG_CMD_VERSION);
                if(Version_HW > 11) timeout = SetDelay(100);
                else timeout = SetDelay(250);
 
                do
                {
                        if (MK3MAG_Version.Major != 0xFF) break; // break loop on success
                }while (!CheckDelay(timeout));
                UART1_PutString(".");
                repeat++;
        }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s
        // if we got it
        if (MK3MAG_Version.Major != 0xFF)
        {
                sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
                UART1_PutString(msg);
                if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
                {
                        UART1_PutString("\n\r MK3MAG not compatible!");
                        UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE;
                        LED_RED_ON;
                }
                else
                {       // version ok
                        MK3MAG_Present = 1;
                }
        }
        return(MK3MAG_Present);
}
 
//----------------------------------------------------------------
void MK3MAG_Update(void)
{
        static u32 TimerUpdate = 0;
        static s16 x_max,y_max,z_max,x_min,y_min,z_min;
        static u8 last_state;
        u8 msg[64];
        u16 MinCaclibration = 500;
 
        if( (I2C_State == I2C_STATE_OFF) || !MK3MAG_Present ) return;
       
        if(CheckDelay(TimerUpdate))
        {
                // check for incomming compass calibration request
                Compass_UpdateCalState();
                MK3MAG_WriteCal.CalByte = Compass_CalState;
       
                if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)
                {       // send new calibration state
                        MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);
                }
                else
                {       // calibration state matches
                        MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer
               
                        switch(Compass_CalState)
                        {
                                case 1:
                                    if(last_state != Compass_CalState)
                                         {
                                          UART1_PutString("\r\nMK3Mag calibration\n\r");
                                      if(EarthMagneticStrengthTheoretic)
                                                {
                                                  MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50;
                                                  sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);
                                                  UART1_PutString(msg);
                                                 }
                                           else UART1_PutString("without GPS\n\r");
                                         }
                                        x_max = -30000; y_max = -30000; z_max = -30000;
                                        x_min = 30000; y_min = 30000; z_min = 30000;
                                        break;
                               
                                case 2:
                                                 if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 60; }
                                        else if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 20; }
                                                 if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 60; }
                                        else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; }
                                        break;
                               
                                case 4:
                                                 if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; }
                                        else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; }
                                        break;
                                case 5:
                                    if(last_state == Compass_CalState) break;
                                        if(((x_max - x_min) > MinCaclibration) && ((y_max - y_min) > MinCaclibration) && ((z_max - z_min) > MinCaclibration))
                                        {
                                        BeepTime = 2500;
                                        UART1_PutString("\r\n-> Calibration okay <-\n\r");
                                        }
                                        else
                                        {
                                        UART1_PutString("\r\nCalibration FAILED - Values too low: ");
                                    if((x_max - x_min) < MinCaclibration) UART1_PutString("X! ");
                                    if((y_max - y_min) < MinCaclibration) UART1_PutString("Y! ");
                                    if((z_max - z_min) < MinCaclibration) UART1_PutString("Z! ");
                                        UART1_PutString("\r\n");
                                        }
                                        UART1_PutString(msg);
                                        sprintf(msg, "\r\nX: (%i - %i = %i)\r\n",x_max,x_min,x_max - x_min);
                                        UART1_PutString(msg);
                                        sprintf(msg, "Y: (%i - %i = %i)\r\n",y_max,y_min,y_max - y_min);
                                        UART1_PutString(msg);
                                        sprintf(msg, "Z: (%i - %i = %i)\r\n",z_max,z_min,z_max - z_min);
                                        UART1_PutString(msg);
                                        sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration);
                                        UART1_PutString(msg);
                                        break;
                                default:
                                        break;
                        }
                        last_state = Compass_CalState;
                }
                TimerUpdate = SetDelay(20);    // every 20 ms are 50 Hz
        }
}
 

Rev 342	Rev 360
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	-
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	-
7	// + FOR NON COMMERCIAL USE ONLY	-
8	// + www.MikroKopter.com	5	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-		7	// + Software Nutzungsbedingungen (english version: see below)
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	9	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	10	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	11	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
15	// + Verkauf von Luftbildaufnahmen, usw.	-
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	15	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	17	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	18	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
22	// + eindeutig als Ursprung verlinkt werden	19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	21	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
25	// + Benutzung auf eigene Gefahr	22	// + des Mitverschuldens offen.
-		23	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
-		24	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
-		26	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
29	// + mit unserer Zustimmung zulässig	29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
-		30	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	32	// + Software LICENSING TERMS
32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
34	// + this list of conditions and the following disclaimer.	35	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
36	// + from this software without specific prior written permission.	37	// + The Software may only be used with the Licensor's products.
37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
38	// + for non-commercial use (directly or indirectly)	-
39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
40	// + with our written permission	40	// + agreement shall be the property of the Licensor.
41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
42	// + clearly linked as origin	-
43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	42	// + features that can be used to identify the program may not be altered or defaced by the customer.
44	//	-
45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	43	// + The customer shall be responsible for taking reasonable precautions
46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
55	// + POSSIBILITY OF SUCH DAMAGE.	53	// + #### END OF LICENSING TERMS ####
-		54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
57	#include <stdio.h>	56	#include <stdio.h>
58	#include <string.h>	57	#include <string.h>
59	#include "91x_lib.h"	58	#include "91x_lib.h"
60	#include "mk3mag.h"	59	#include "mk3mag.h"
61	#include "i2c.h"	60	#include "i2c.h"
62	#include "timer1.h"	61	#include "timer1.h"
63	#include "led.h"	62	#include "led.h"
64	#include "main.h"	63	#include "main.h"
65	#include "uart1.h"	64	#include "uart1.h"
66	#include "compass.h"	65	#include "compass.h"
67		66
68	#define MK3MAG_SLAVE_ADDRESS 0x50 // i2C slave address	67	#define MK3MAG_SLAVE_ADDRESS 0x50 // i2C slave address
69		68
70	u8 MK3MAG_Present = 0;	69	u8 MK3MAG_Present = 0;
71		70
72	typedef struct	71	typedef struct
73	{	72	{
74	s16 Nick;	73	s16 Nick;
75	s16 Roll;	74	s16 Roll;
76	} __attribute__((packed)) MK3MAG_WriteAttitude_t;	75	} __attribute__((packed)) MK3MAG_WriteAttitude_t;
77		76
78	typedef struct	77	typedef struct
79	{	78	{
80	u8 Major;	79	u8 Major;
81	u8 Minor;	80	u8 Minor;
82	u8 Patch;	81	u8 Patch;
83	u8 Compatible;	82	u8 Compatible;
84	} __attribute__((packed)) MK3MAG_Version_t;	83	} __attribute__((packed)) MK3MAG_Version_t;
85		84
86	typedef struct	85	typedef struct
87	{	86	{
88	u8 CalByte;	87	u8 CalByte;
89	u8 Dummy1;	88	u8 Dummy1;
90	u8 Dummy2;	89	u8 Dummy2;
91	} __attribute__((packed)) MK3MAG_Cal_t;	90	} __attribute__((packed)) MK3MAG_Cal_t;
92		91
93	// Transfer buffers	92	// Transfer buffers
94	volatile MK3MAG_WriteAttitude_t MK3MAG_WriteAttitude;	93	volatile MK3MAG_WriteAttitude_t MK3MAG_WriteAttitude;
95	volatile MK3MAG_Version_t MK3MAG_Version;	94	volatile MK3MAG_Version_t MK3MAG_Version;
96	volatile MK3MAG_Cal_t MK3MAG_WriteCal;	95	volatile MK3MAG_Cal_t MK3MAG_WriteCal;
97	volatile MK3MAG_Cal_t MK3MAG_ReadCal;	96	volatile MK3MAG_Cal_t MK3MAG_ReadCal;
98		97
99	// -------------------------------------------------------------------------------	98	// -------------------------------------------------------------------------------
100	// the calculation of the MK3MAG packet checksum	99	// the calculation of the MK3MAG packet checksum
101		100
102	// calculate the crc of bytecount bytes in buffer	101	// calculate the crc of bytecount bytes in buffer
103	u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount)	102	u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount)
104	{	103	{
105	u8 i, crc = 0;	104	u8 i, crc = 0;
106	for(i=0; i < bytecount; i++)	105	for(i=0; i < bytecount; i++)
107	{	106	{
108	crc += pBuffer[i];	107	crc += pBuffer[i];
109	}	108	}
110	crc = ~crc;	109	crc = ~crc;
111	return crc;	110	return crc;
112	}	111	}
113		112
114	// assuming the last byte in buffer is the crc byte	113	// assuming the last byte in buffer is the crc byte
115	u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen)	114	u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen)
116	{	115	{
117	u8 crc = 0, retval = 0;	116	u8 crc = 0, retval = 0;
118	if(BuffLen == 0) return(retval);	117	if(BuffLen == 0) return(retval);
119	crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1);	118	crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1);
120	if(crc == pBuffer[BuffLen-1])	119	if(crc == pBuffer[BuffLen-1])
121	{	120	{
122	retval = 1;	121	retval = 1;
123	DebugOut.Analog[15]++; // count mk3mag ok	122	DebugOut.Analog[15]++; // count mk3mag ok
124	}	123	}
125	else	124	else
126	{	125	{
127	retval = 0;	126	retval = 0;
128	DebugOut.Analog[14]++; // count mk3mag crc error	127	DebugOut.Analog[14]++; // count mk3mag crc error
129	}	128	}
130	return(retval);	129	return(retval);
131	}	130	}
132		131
133	// -------------------------------------------------------------------------------	132	// -------------------------------------------------------------------------------
134	// the I2C rx data handler functions	133	// the I2C rx data handler functions
135		134
136	// rx data handler for version info request	135	// rx data handler for version info request
137	void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize)	136	void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize)
138	{ // if crc is ok and number of byte are matching	137	{ // if crc is ok and number of byte are matching
139	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )	138	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )
140	{	139	{
141	memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));	140	memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));
142	}	141	}
143	}	142	}
144		143
145	// rx data handler for calibration request	144	// rx data handler for calibration request
146	void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize)	145	void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize)
147	{ // if crc is ok and number of byte are matching	146	{ // if crc is ok and number of byte are matching
148	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )	147	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )
149	{	148	{
150	memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));	149	memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));
151	}	150	}
152	}	151	}
153		152
154	// rx data handler for magnetic vector request	153	// rx data handler for magnetic vector request
155	void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)	154	void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)
156	{ // if crc is ok and number of byte are matching	155	{ // if crc is ok and number of byte are matching
157	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) )	156	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) )
158	{	157	{
159	s16vec_t pMagVector = (s16vec_t)pRxBuffer;	158	s16vec_t pMagVector = (s16vec_t)pRxBuffer;
160	MagVector.X = pMagVector->Y;	159	MagVector.X = pMagVector->Y;
161	MagVector.Y = pMagVector->X;	160	MagVector.Y = pMagVector->X;
162	MagVector.Z = -pMagVector->Z;	161	MagVector.Z = -pMagVector->Z;
163	Compass_CalcHeading();	162	Compass_CalcHeading();
164	}	163	}
165	}	164	}
166		165
167	//----------------------------------------------------------------	166	//----------------------------------------------------------------
168	#define MK3MAG_CMD_VERSION 0x01	167	#define MK3MAG_CMD_VERSION 0x01
169	#define MK3MAG_CMD_READ_MAGVECT 0x02	168	#define MK3MAG_CMD_READ_MAGVECT 0x02
170	#define MK3MAG_CMD_WRITE_CAL 0x04	169	#define MK3MAG_CMD_WRITE_CAL 0x04
171		170
172	void MK3MAG_SendCommand(u8 command)	171	void MK3MAG_SendCommand(u8 command)
173	{	172	{
174	// try to catch the I2C buffer	173	// try to catch the I2C buffer
175	if(I2C_LockBuffer(0))	174	if(I2C_LockBuffer(0))
176	{	175	{
177	u16 TxBytes = 0;	176	u16 TxBytes = 0;
178	u16 RxBytes = 0;	177	u16 RxBytes = 0;
179	I2C_pRxHandler_t pRxHandlerFunc = NULL;	178	I2C_pRxHandler_t pRxHandlerFunc = NULL;
180		179
181	// update current command id	180	// update current command id
182	I2C_Buffer[TxBytes++] = command;	181	I2C_Buffer[TxBytes++] = command;
183		182
184	// set pointers to data area with respect to the command id	183	// set pointers to data area with respect to the command id
185	switch (command)	184	switch (command)
186	{	185	{
187	case MK3MAG_CMD_VERSION:	186	case MK3MAG_CMD_VERSION:
188	RxBytes = sizeof(MK3MAG_Version)+1;	187	RxBytes = sizeof(MK3MAG_Version)+1;
189	pRxHandlerFunc = &MK3MAG_UpdateVersion;	188	pRxHandlerFunc = &MK3MAG_UpdateVersion;
190	break;	189	break;
191	case MK3MAG_CMD_WRITE_CAL:	190	case MK3MAG_CMD_WRITE_CAL:
192	RxBytes = sizeof(MK3MAG_ReadCal)+1;	191	RxBytes = sizeof(MK3MAG_ReadCal)+1;
193	pRxHandlerFunc = &MK3MAG_UpdateCalibration;	192	pRxHandlerFunc = &MK3MAG_UpdateCalibration;
194	memcpy((u8)I2C_Buffer+1, (u8)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));	193	memcpy((u8)I2C_Buffer+1, (u8)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));
195	TxBytes += sizeof(MK3MAG_WriteCal);	194	TxBytes += sizeof(MK3MAG_WriteCal);
196	break;	195	break;
197	case MK3MAG_CMD_READ_MAGVECT:	196	case MK3MAG_CMD_READ_MAGVECT:
198	RxBytes = sizeof(MagVector)+1;	197	RxBytes = sizeof(MagVector)+1;
199	pRxHandlerFunc = &MK3MAG_UpdateMagVector;	198	pRxHandlerFunc = &MK3MAG_UpdateMagVector;
200	break;	199	break;
201	default: // unknown command id	200	default: // unknown command id
202	RxBytes = 0;	201	RxBytes = 0;
203	pRxHandlerFunc = NULL;	202	pRxHandlerFunc = NULL;
204	break;	203	break;
205	}	204	}
206	// update packet checksum	205	// update packet checksum
207	I2C_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C_Buffer, TxBytes);	206	I2C_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C_Buffer, TxBytes);
208	TxBytes++;	207	TxBytes++;
209	// initiate I2C transmission	208	// initiate I2C transmission
210	I2C_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes);	209	I2C_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes);
211	} // EOF I2C_State == I2C_IDLE	210	} // EOF I2C_State == I2C_IDLE
212	}	211	}
213		212
214		213
215	//----------------------------------------------------------------	214	//----------------------------------------------------------------
216	u8 MK3MAG_Init(void)	215	u8 MK3MAG_Init(void)
217	{	216	{
218	u8 msg[64];	217	u8 msg[64];
219	u8 repeat;	218	u8 repeat;
220	u32 timeout;	219	u32 timeout;
221		220
222	MK3MAG_Present = 0;	221	MK3MAG_Present = 0;
223		222
224	MK3MAG_Version.Major = 0xFF;	223	MK3MAG_Version.Major = 0xFF;
225	MK3MAG_Version.Minor = 0xFF;	224	MK3MAG_Version.Minor = 0xFF;
226	MK3MAG_Version.Patch = 0xFF;	225	MK3MAG_Version.Patch = 0xFF;
227	MK3MAG_Version.Compatible = 0xFF;	226	MK3MAG_Version.Compatible = 0xFF;
228		227
229	Compass_Heading = -1;	228	Compass_Heading = -1;
230		229
231	// polling of version info	230	// polling of version info
232	repeat = 0;	231	repeat = 0;
233	do	232	do
234	{	233	{
235	MK3MAG_SendCommand(MK3MAG_CMD_VERSION);	234	MK3MAG_SendCommand(MK3MAG_CMD_VERSION);
236	if(Version_HW > 11) timeout = SetDelay(100);	235	if(Version_HW > 11) timeout = SetDelay(100);
237	else timeout = SetDelay(250);	236	else timeout = SetDelay(250);
238		237
239	do	238	do
240	{	239	{
241	if (MK3MAG_Version.Major != 0xFF) break; // break loop on success	240	if (MK3MAG_Version.Major != 0xFF) break; // break loop on success
242	}while (!CheckDelay(timeout));	241	}while (!CheckDelay(timeout));
243	UART1_PutString(".");	242	UART1_PutString(".");
244	repeat++;	243	repeat++;
245	}while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s	244	}while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s
246	// if we got it	245	// if we got it
247	if (MK3MAG_Version.Major != 0xFF)	246	if (MK3MAG_Version.Major != 0xFF)
248	{	247	{
249	sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);	248	sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
250	UART1_PutString(msg);	249	UART1_PutString(msg);
251	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	250	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
252	{	251	{
253	UART1_PutString("\n\r MK3MAG not compatible!");	252	UART1_PutString("\n\r MK3MAG not compatible!");
254	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_INCOMPATIBLE;	253	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_INCOMPATIBLE;
255	LED_RED_ON;	254	LED_RED_ON;
256	}	255	}
257	else	256	else
258	{ // version ok	257	{ // version ok
259	MK3MAG_Present = 1;	258	MK3MAG_Present = 1;
260	}	259	}
261	}	260	}
262	return(MK3MAG_Present);	261	return(MK3MAG_Present);
263	}	262	}
264		263
265	//----------------------------------------------------------------	264	//----------------------------------------------------------------
266	void MK3MAG_Update(void)	265	void MK3MAG_Update(void)
267	{	266	{
268	static u32 TimerUpdate = 0;	267	static u32 TimerUpdate = 0;
269	static s16 x_max,y_max,z_max,x_min,y_min,z_min;	268	static s16 x_max,y_max,z_max,x_min,y_min,z_min;
270	static u8 last_state;	269	static u8 last_state;
271	u8 msg[64];	270	u8 msg[64];
272	u16 MinCaclibration = 500;	271	u16 MinCaclibration = 500;
273		272
274	if( (I2C_State == I2C_STATE_OFF) \|\| !MK3MAG_Present ) return;	273	if( (I2C_State == I2C_STATE_OFF) \|\| !MK3MAG_Present ) return;
275		274
276	if(CheckDelay(TimerUpdate))	275	if(CheckDelay(TimerUpdate))
277	{	276	{
278	// check for incomming compass calibration request	277	// check for incomming compass calibration request
279	Compass_UpdateCalState();	278	Compass_UpdateCalState();
280	MK3MAG_WriteCal.CalByte = Compass_CalState;	279	MK3MAG_WriteCal.CalByte = Compass_CalState;
281		280
282	if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)	281	if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)
283	{ // send new calibration state	282	{ // send new calibration state
284	MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);	283	MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);
285	}	284	}
286	else	285	else
287	{ // calibration state matches	286	{ // calibration state matches
288	MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer	287	MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer
289		288
290	switch(Compass_CalState)	289	switch(Compass_CalState)
291	{	290	{
292	case 1:	291	case 1:
293	if(last_state != Compass_CalState)	292	if(last_state != Compass_CalState)
294	{	293	{
295	UART1_PutString("\r\nMK3Mag calibration\n\r");	294	UART1_PutString("\r\nMK3Mag calibration\n\r");
296	if(EarthMagneticStrengthTheoretic)	295	if(EarthMagneticStrengthTheoretic)
297	{	296	{
298	MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50;	297	MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50;
299	sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);	298	sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);
300	UART1_PutString(msg);	299	UART1_PutString(msg);
301	}	300	}
302	else UART1_PutString("without GPS\n\r");	301	else UART1_PutString("without GPS\n\r");
303	}	302	}
304	x_max = -30000; y_max = -30000; z_max = -30000;	303	x_max = -30000; y_max = -30000; z_max = -30000;
305	x_min = 30000; y_min = 30000; z_min = 30000;	304	x_min = 30000; y_min = 30000; z_min = 30000;
306	break;	305	break;
307		306
308	case 2:	307	case 2:
309	if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 60; }	308	if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 60; }
310	else if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 20; }	309	else if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 20; }
311	if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 60; }	310	if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 60; }
312	else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; }	311	else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; }
313	break;	312	break;
314		313
315	case 4:	314	case 4:
316	if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; }	315	if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; }
317	else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; }	316	else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; }
318	break;	317	break;
319	case 5:	318	case 5:
320	if(last_state == Compass_CalState) break;	319	if(last_state == Compass_CalState) break;
321	if(((x_max - x_min) > MinCaclibration) && ((y_max - y_min) > MinCaclibration) && ((z_max - z_min) > MinCaclibration))	320	if(((x_max - x_min) > MinCaclibration) && ((y_max - y_min) > MinCaclibration) && ((z_max - z_min) > MinCaclibration))
322	{	321	{
323	BeepTime = 2500;	322	BeepTime = 2500;
324	UART1_PutString("\r\n-> Calibration okay <-\n\r");	323	UART1_PutString("\r\n-> Calibration okay <-\n\r");
325	}	324	}
326	else	325	else
327	{	326	{
328	UART1_PutString("\r\nCalibration FAILED - Values too low: ");	327	UART1_PutString("\r\nCalibration FAILED - Values too low: ");
329	if((x_max - x_min) < MinCaclibration) UART1_PutString("X! ");	328	if((x_max - x_min) < MinCaclibration) UART1_PutString("X! ");
330	if((y_max - y_min) < MinCaclibration) UART1_PutString("Y! ");	329	if((y_max - y_min) < MinCaclibration) UART1_PutString("Y! ");
331	if((z_max - z_min) < MinCaclibration) UART1_PutString("Z! ");	330	if((z_max - z_min) < MinCaclibration) UART1_PutString("Z! ");
332	UART1_PutString("\r\n");	331	UART1_PutString("\r\n");
333	}	332	}
334	UART1_PutString(msg);	333	UART1_PutString(msg);
335	sprintf(msg, "\r\nX: (%i - %i = %i)\r\n",x_max,x_min,x_max - x_min);	334	sprintf(msg, "\r\nX: (%i - %i = %i)\r\n",x_max,x_min,x_max - x_min);
336	UART1_PutString(msg);	335	UART1_PutString(msg);
337	sprintf(msg, "Y: (%i - %i = %i)\r\n",y_max,y_min,y_max - y_min);	336	sprintf(msg, "Y: (%i - %i = %i)\r\n",y_max,y_min,y_max - y_min);
338	UART1_PutString(msg);	337	UART1_PutString(msg);
339	sprintf(msg, "Z: (%i - %i = %i)\r\n",z_max,z_min,z_max - z_min);	338	sprintf(msg, "Z: (%i - %i = %i)\r\n",z_max,z_min,z_max - z_min);
340	UART1_PutString(msg);	339	UART1_PutString(msg);
341	sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration);	340	sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration);
342	UART1_PutString(msg);	341	UART1_PutString(msg);
343	break;	342	break;
344	default:	343	default:
345	break;	344	break;
346	}	345	}
347	last_state = Compass_CalState;	346	last_state = Compass_CalState;
348	}	347	}
349	TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz	348	TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz
350	}	349	}
351	}	350	}
352		351

Subversion Repositories NaviCtrl

(root)/tags/V2.00a/mk3mag.c @ 850 - Rev 342 → 360